TWI663559B - Storage and transportation system for automatic storage and positioning control method thereof - Google Patents

Abstract

A storage and transportation system for automatic storage and a positioning control method thereof. The system includes: a plurality of three-dimensional storage cabinets, a plurality of guide rail assemblies, at least one vertical lifting storage device, a plurality of automatic conveying modules, and at least An automatic positioning module, at least one reading module, at least one automatic gripping module, and a central control processing module; and the positioning control method includes: a transport step, a mechanical positioning step, an inductive reading step, and optical Positioning steps, calculation processing steps, transmission steps, and operation steps; among them, the coordinated operation of the above modules, combined with these process steps, enables the present invention to perform optical positioning and mechanical positioning during the operation process of storing and receiving materials. Therefore, the material box information read during the conveying process can be realized accordingly, and synchronous monitoring and automatic access can be realized at the same time, so as to achieve high efficiency and accurate identification.

Description

Storage and transportation system for automatic storage and positioning control method thereof

The invention relates to an automatic storage system, in particular to a storage and transportation system for automatic storage and a positioning control method thereof.

According to different industries and enterprises, because of different production products, the frequency of use of material warehouses is not the same; but for enterprises with a large number of material types and large materials storage, material storage management is directly related to the company's production. Management has a pivotal role.

However, taking SMT (Surface Mount Technology for Electronic Circuits, Surface Mount Technology) as an example, SMT is a basic industry in the field of electronics manufacturing, so it can be known that the warehouse material is one of the SMT (Surface Mount Technology, Surface Mount Technology) manufacturing processes The important components mainly include the steps of feeding, discharging, returning and feeding.

However, most of the existing storage and distribution systems use paper bills and manual identification and search methods. Such storage and distribution systems have low working efficiency, high error rates, and poor real-time updateability. They also require a lot of operator skills and require training. Only long-time skilled personnel can effectively carry out the process of feeding and discharging. Furthermore, in order to effectively and accurately classify and store materials, different types of material storage locations are mostly fixed settings. In order to proficiently and accurately perform process operations such as feeding and discharging, the technical requirements for operators are further increased. .

In addition, due to the characteristics of large quantities and multiple varieties in the electronic product production industry, more materials are used; if materials are manually managed and delivered, there will be problems of difficulty in finding and time consuming. Therefore, it is necessary to consider the automation of material storage and delivery, in order to shorten the time of material search and acquisition, increase the speed of logistics, and increase production efficiency.

Therefore, the inventor of the present case, after observing the aforesaid deletion, then produced the present invention.

The main purpose of the present invention is to provide a storage and transportation system for automatic warehousing, which can perform optical positioning and mechanical positioning during the operation process of storing and receiving materials, thereby correspondingly realizing the reading of materials during transportation. At the same time, the multi-station non-interfering access process is realized, and the material trays of the material boxes in the system of the present invention are monitored and automatically accessed in a high-precision manner to achieve high efficiency and accurate identification. Purpose.

In order to achieve the above object, the storage and transportation system for automatic storage provided by the present invention includes: a plurality of three-dimensional storage cabinets, which are arranged at intervals and have a plurality of storage spaces. The storage spaces are A plurality of material boxes are arranged, and there is at least one moving space between at least two three-dimensional storage cabinets; a plurality of guide track components are provided on the ground of the moving space and adjacent to the peripheral side of the three-dimensional storage cabinets. The guide rail components are connected to each other; at least one vertical lifting storage device is slidably disposed on the guide rail components; a plurality of automatic conveying modules are adjacent to each other One side of the three-dimensional storage cabinet is separated by at least one space. The automatic conveying module is used to transport at least one material box, and at least one sensor tag and at least one sensing position structure are arranged on the outside of the material boxes; at least one An automatic positioning module is set on the automatic conveying module and has at least two mechanical positioning members and a sensing processing unit, the sensing processing unit is coupled to the mechanical positioning members, and the automatic positioning module The module is used to transport the material box by the automatic conveying module, the mechanical positioning members temporarily position the material box on the automatic conveying module, and the sensing processing unit transmits at least a certain point signal; at least one The reading module has a plurality of optical readers and a plurality of information readers, and is selected from the three-dimensional storage cabinets, the vertical lifting storage device, the guide track components and the automatic At least one of the conveyance modules, and at least one optical reader and at least one information reader are respectively adjacent to the automatic positioning module, and are used to optically read the material box and scan and read. Information of the material box, and transmit at least one optical positioning signal and at least one material information; at least one automatic gripping module is located on one side of at least one automatic conveying module, and two sides of the automatic gripping module are There are two automatic conveying modules; and a central control processing module, which are coupled to the vertical lifting storage device, the automatic conveying modules, the automatic gripping module, the reading module and the Automatic setting Module, and receives the fixed-point signal, the optical positioning signal, and the material information, and performs calculation processing, and then controls the vertical lifting storage device, the automatic conveying module, the automatic gripping module, the reading Take the module and the action of the automatic positioning module.

Based on the above-mentioned storage and transportation system for automatic warehousing, the present invention further proposes a positioning control method for the storage and transportation system for automatic warehousing. The positioning control method includes: a transportation step, the automatic conveying dies The group conveys a plurality of material boxes; a mechanical positioning step, when conveying the material boxes, the sensing processing unit causes one of the mechanical positioning members to push one side of the material box, and the other mechanical positioning member pushes the On the other side of the material box, the material box is located in the optical positioning space, and then the sensing processing unit transmits at least a certain point signal; a sensing reading step, the information readers read the sensing tag, and Generate at least one material information, and the sensing processing unit transmits the material information to the central control processing module; an optical positioning step, the optical readers read the first identification reflection part and the And waiting for the second recognition and reflection unit to obtain at least one optical positioning signal, and the sensing processing unit transmits the optical positioning signal to the central control processing module ; An arithmetic processing step, the central control processing module receives the fixed-point signal, the optical positioning signal and the material information, and performs arithmetic processing to obtain the plural picking information and the plural feeding information, and then the plural picking information and The feeding information is converted into plural execution program information. In a transmission step, the central control processing module transmits the execution program information to the vertical lifting storage device, the automatic conveying module, and the automatic clamping. Module and the reading module, so as to control the operation of the vertical lifting storage device, the automatic conveying module, the automatic gripping module and the reading module; a working step, the vertical lifting The storage device, the automatic conveying module and the automatic gripping module perform at least one feeding operation and at least one storage operation according to the execution program information.

The storage and transportation system for automatic storage and the positioning control method thereof provided by the present invention use the automatic positioning module to mechanically position the material box, and match the material box's induction label and the sensing position. The structure is provided for the reading module to position the material box in an optical reading manner and scan and read the information of the material box. More specifically, the present invention can perform optical processing during the operation of storing and receiving materials. Positioning and mechanical positioning, and with the vertical lifting material storage device, the automatic conveying module, the automatic gripping module, the reading module, the automatic positioning module and the central control processing module Cooperative operation and the use of the above-mentioned positioning control method can accordingly achieve the material box information read during the conveying process, and at the same time, realize the multi-station non-interfering access process, and achieve high accuracy. The material tray of the material box in the system of the invention is synchronously monitored and automatically accessed to achieve high efficiency and accurate identification.

Please refer to FIG. 1 and FIG. 2, together with FIG. 3, FIG. 4, and FIG. 5, which are schematic diagrams of a system, a schematic diagram of a system architecture, a perspective view of a material box 13, An exploded perspective view and a perspective view of the positioning plate 133, which discloses a storage and transportation system 100 for automatic storage, which includes:

The plurality of three-dimensional storage cabinets 10 are arranged at intervals and have a plurality of storage spaces 11. The storage spaces 11 are provided with a plurality of material boxes 13. At least two three-dimensional storage cabinets 10 have at least one between them. Move space 12.

A plurality of guide track assemblies 20 are provided on the ground of the moving space 12 and adjacent to the peripheral side of the three-dimensional storage cabinet 10, and the guide track assemblies 20 are connected to each other; in this embodiment, these The guide rail assembly 20 includes a plurality of guide rails 21.

At least one vertical lifting material receiving device 30 is movably slidably disposed on the guide rail assemblies 20; in this embodiment, the vertical lifting material receiving device 30 includes a sliding base. The seat 31, a power component 32, at least one pole 33, a moving component 34, a bearing platform 35, and a material moving component 36. The sliding base 31 is slidably disposed on at least one guide track component 20, and the The upright side of the sliding base 31 is provided with the upright 33, and the upside of the upright 33 is provided with a moving component 34, the moving component 34 is connected to the bearing platform 35, and the bearing platform 35 is provided with the moving platform. Material assembly 36, and the loading platform 35 is vertically displaced relative to the upright 33 by the moving assembly 34, and the power assembly 32 is disposed on the sliding base 31 and is coupled to the moving assembly 34 and The transfer assembly 36.

A plurality of automatic conveying modules 40 are arranged adjacent to one side of the three-dimensional storage cabinets 10 and are separated by at least one space. The automatic conveying module 40 is used to convey at least one material box 13, and the material boxes 13 At least one sensing label 134 and at least one sensing positioning structure 131 are provided on the outside; in this embodiment, the automatic conveying modules 40 are selected from one of an automatic conveying belt structure and an automatic roller conveying structure. Or a combination thereof. In addition, the automatic conveying modules 40 of the present invention are an automatic conveying belt structure and an automatic roller conveying structure, respectively.

At least one automatic positioning module 50 is arranged in the automatic conveying module 40 and has at least two mechanical positioning members 51 and a sensing processing unit 52. The sensing processing unit 52 is coupled to the mechanical positioning members 51. Moreover, the automatic positioning module 50 is used to temporarily position the material box 13 on the automatic conveying module 40 when the automatic conveying module 40 conveys the material box 13, and the sensing The measurement processing unit 52 transmits at least a certain number of signals. In this embodiment, an optical positioning space 511 is provided between the mechanical positioning members 51, and the mechanical positioning members 51 are used in the automatic conveying module 40. When the material box 13 is transported, the material box 13 is used to position the optical positioning space 511, and the sensing processing unit 52 transmits at least a certain number of signals.

At least one reading module 60, which has a plurality of optical readers 61 and a plurality of information readers 62, and is selected from the three-dimensional storage cabinets 10, the vertical lifting storage device 30, the guides At least one of the guide track assembly 20 and the automatic conveyance modules 40, and at least one optical reader 61 and at least one information reader 62 are respectively adjacent to the automatic positioning module 50, and are used for optical The reading method locates the sensing position structures 131 on the material box 13 and scans and reads the information in the sensing tag 134 of the material box 13, and then transmits at least one optical positioning signal and at least one material information.

At least one automatic gripping module 70 is located on one side of the at least one automatic conveying module 40, and two automatic conveying modules 40 are respectively arranged on two sides of the automatic gripping module 70. In this embodiment, the automatic gripping module 70 is an automated robotic arm, and the central control processing module 80 can be selected based on one of the optical positioning signal, the material information, and the read feedback information. Or a combination thereof to control the operation of the automatic gripping module 70; in addition, at least one optical reader 61 is installed in the automatic gripping module 70, and the information readers 62 are installed in the automatic gripping module 70 Conveying module 40.

A central control processing module 80, which is coupled to the vertical lifting storage device 30, the automatic conveying modules 40, the automatic gripping module 70, the reading module 60, and the automatic positioning module 50, and receive the fixed-point signal, the optical positioning signal, and the material information, and perform calculation processing, and then control the vertical lifting storage device 30, the automatic conveying modules 40, the automatic gripping module 70, The reading module 60 and the automatic positioning module 50 operate.

In this embodiment, please refer to FIG. 3 to FIG. 5. The inductive tags 134 are selected from one or a combination of a radio frequency tag and a barcode, and the information readers 62 read the inductive tags. The label 134 generates at least one piece of material information. In addition, a plurality of sensing position structures 131 are respectively provided on the outer sides of the material boxes 13, and the sensing position structures 131 are selected from one of a protrusion and a groove or a groove. Combination, and each of the convex posts or grooves is provided with a first identification reflection part 132, and the optical reader 61 optically reads the first identification reflection parts 132 to obtain at least one optical positioning signal; and, As shown in FIGS. 4 and 5, a plurality of positioning plates 133 are arranged at intervals in the material box 13. At least one object 300 is accommodated between the positioning plates 133. The object 300 is based on the material tray 301 as an example. The top edges of the positioning plates 133 are respectively provided with at least a second identification reflection part 1332, and the optical reader 61 optically reads the first identification reflection part 132 and the second identification reflection part 1332, Thereby obtaining at least one optical positioning signal; and the first identifying and reflecting portion 132 The second identification section 1332 based white reflective coating Case.

It is worth mentioning that the three-dimensional storage cabinet 10 can be provided with a plurality of identification positioning points 14, as shown in FIG. 10, for the optical reader 61 to optically scan the identification positioning points 14, thereby The position of the pre-clamping or depositing is clearly positioned for the external gripping device 70 (ie, the automated robotic arm) to perform the process of gripping or depositing the material tray 301.

Please continue to cooperate with reference to FIG. 11. Based on the above-mentioned storage and transportation system 100 for automatic storage, the present invention further proposes a positioning control method 200 for the storage and transportation system for automatic storage. The positioning control method 200 is Contains:

In a transport step S1, the automatic transport modules 40 transport a plurality of material boxes 13.

A mechanical positioning step S2. When conveying the material box 13, the sensing processing unit 52 causes one of the mechanical positioning members 51 to push one side of the material box 13 in an elastic or telescopic manner, and the other mechanical positioning member 51 is to push the other side of the material box 13 elastically or telescopically, so that the material box 13 is located in the optical positioning space 511, and then the sensing processing unit 52 transmits at least a certain point signal.

An inductive reading step S3A, the information readers 62 read the inductive tag 134 and generate at least one material information, and the sensing processing unit 52 transmits the material information to the central control processing module 80.

An optical positioning step S3B. The optical readers 61 read the first identification reflection portion 132 and the second identification reflection portion 1332 to obtain at least one optical positioning signal, and the sensing processing unit 52 The optical positioning signal is transmitted to the central control processing module 80.

An arithmetic processing step S4. The central control processing module 80 receives the fixed-point signal, the optical positioning signal, and the material information, and performs arithmetic processing to obtain the plural picking information and the plural feeding information, and then the plural picking information And such feeding information is converted into plural execution procedure information.

In a transmission step S5, the central control processing module 80 transmits the execution program information to the vertical lifting storage device 30, the automatic conveying modules 40, the automatic gripping module 70, and the reading. The module 60 controls the operation of the vertical lifting material receiving device 30, the automatic conveying modules 40, the automatic gripping module 70 and the reading module 60.

In an operation step S6, the vertical lifting material receiving and discharging device 30, the automatic conveying modules 40 and the automatic gripping module 70 perform at least one feeding operation and at least one storage operation according to the execution program information.

Please continue to refer to FIG. 12, which is a schematic flowchart of a method according to another preferred embodiment of the present invention. The positioning control method 200 of the present invention further includes a stocking step S6A, a reclaiming step S6B, and a clamping step S7. ,among them:

The storage step S6A. In the operation step S6, the vertical lifting storage device 30 determines the position of the storage material box 13 in the three-dimensional storage cabinets 10 according to the execution procedure information. The vertical lifting material storage device 30 extends the material moving assembly 36 and places the material box 13 on the loading platform 35, and then stores the material box in the pre-stored three-dimensional storage cabinet 10, and then the vertical lifting The loading / unloading device 30 returns to the origin position or re-executes another execution program information.

The reclaiming step S6B. In the operation step S6, the vertical lifting storage device 30 determines the position of the shortest path for reclaiming a material box 13 in the three-dimensional storage cabinets 10 according to the execution procedure information. Then, the vertical lifting material receiving device 30 extends the material moving assembly 36 and places the material box 13 on the loading platform 35. The vertical lifting material receiving device 30 sends the material box 13 to the One of the conveying places of the automatic conveying module 40, the automatic conveying modules 40 convey the material box 13.

The gripping step S7. After the storing step S6A and / or the taking step S6B, the automatic gripping module 70 grips the material box on the automatic conveying module 40 according to the execution procedure information. At least one of the objects 300 in 13 is placed in another material box 13 in another automatic conveying module 40.

In order to further understand the structural features of the present invention, the use of technical means, and the expected effects, the manner of use of the present invention is described. It is believed that the deeper and specific understanding of the present invention can be obtained as follows:

Please continue to refer to FIG. 11 and FIG. 12, and together with FIG. 2 and FIG. 6 to FIG. 10, it is a schematic flowchart of a method and a schematic diagram of a use state of a preferred embodiment of the present invention. In the use state, the present invention mainly uses the automatic positioning module 50 to mechanically locate the material box 13 in the optical positioning space 511, and cooperate with the induction label 134 and the sensing position structure of the material box 13 131 is provided for the reading module 60 to optically read the material box 13 and scan and read the information of the material box 13. More specifically, the present invention is capable of storing and storing materials. The process performs optical positioning and mechanical positioning, and is matched with the vertical lifting material storage device 30, the automatic conveying modules 40, the automatic gripping module 70, the reading module 60, and the automatic positioning module 50. And the coordinated operation of the central control processing module 80, and the use of the positioning control method 200 described above, so as to correspondingly realize the information of the material box 13 read during the conveying process, and at the same time, realize the non-interference storage of multiple stations. Take the process, and realize the synchronous monitoring and automatic access to the material tray 301 of the material box 13 in the system of the present invention in a high-precision manner, so as to achieve high efficiency and accurate identification.

In addition, the transportation step S1, the mechanical positioning step S2, the inductive reading step S3A, the optical positioning step S3B, the arithmetic processing step S4, the transmission step S5, the operation step S6, and the stocking step S6A, The fetching step S6B and the fetching step S7 are processes that can be executed sequentially and cyclically according to user requirements, as shown in FIG. 11 and FIG. 12.

It is worth mentioning that from the above description of the system architecture description and positioning control method 200, it can be clearly known that the present invention is a systematic picking and / or storage of materials, and can accurately and efficiently perform the material tray 301 and Identification and detection of the material box 13 and its position status; at the same time, the three-dimensional storage cabinets 10 are independent units from each other to achieve good expansion performance. It is important that the present invention can achieve the effect of providing storage space for issuing materials and picking materials for field operations of automatic storage systems, and achieving detailed classification to provide the optimal configuration of material flow.

Hereby, the features of the present invention and the expected effects that can be achieved are stated as follows:

The storage and transportation system 100 and its positioning control method 200 for automatic warehousing of the present invention mainly use the automatic positioning module 50 to locate the material box 13 in a mechanical positioning manner, and are matched with the inductive label of the material box 13 134 and the sensing position structure 131 are provided for the reading module 60 to optically read the material box 13 and scan and read the information of the material box 13; In addition, the present invention further uses the The coordinated operation of the vertical lifting storage device 30, the automatic conveying modules 40, the automatic gripping module 70, the reading module 60, the automatic positioning module 50 and the central control processing module 80, And the positioning control method 200 described above is used in combination to achieve detailed classification to provide the optimal configuration of material flow.

The invention has the following implementation effects and technical effects:

First, the present invention can perform optical positioning and mechanical positioning during the operation process of storing and receiving materials, thereby correspondingly realizing the information of the material box 13 read during the conveying process, and at the same time, achieving multiple stations without interference with each other. The storage process, and the material tray 301 of the material box 13 in the system of the present invention can be monitored and automatically accessed in a high-precision manner to achieve high efficiency and accurate identification.

Secondly, the present invention is able to perform accurate and efficient execution of the material tray 301 and the material box 13 and the storage system by using an integrated system for picking and / or storing materials, combined with optical positioning and mechanical positioning reading mechanisms. Identification and detection of position status; at the same time, the present invention can replace the manual replacement of the tray, reduce the frequency of manual operations, and reduce the cost of production labor.

Thirdly, the present invention can provide storage space for issuing materials and picking materials for field operations, and strictly control the utilization rate of materials and the life cycle of materials. Through optical positioning and mechanical positioning, corresponding control can be achieved. Read the information of the material box 13 during the conveying process, and efficiently identify and classify the system in detail to achieve the best configuration of material flow.

Fourth, the three-dimensional storage cabinets 10 of the present invention are independent units from each other to achieve good expansion performance. In addition, by using the guide rail assemblies 20, the space mechanism is reasonably utilized, and multiple three-dimensional storage systems are easily realized. The storage cabinet 10 enters and discharges the material box at the same time.

In summary, the present invention has excellent progress and practicality among similar products. At the same time, it has traversed domestic and foreign technical data on such structures. It has not been found in the literature that the same structure exists first. Therefore, The present invention already has the elements of an invention patent, and the application is filed according to law.

However, the above are only the preferred and feasible embodiments of the present invention. Therefore, any equivalent structural changes made by applying the description of the present invention and the scope of patent application should be included in the patent scope of the present invention.

100‧‧‧Storage and delivery system for automatic storage

10‧‧‧Three-dimensional storage cabinet

11‧‧‧ accommodation space

12‧‧‧ mobile space

13‧‧‧Material Box

131‧‧‧ Sensing position structure

132‧‧‧The first identification reflection part

133‧‧‧Positioning board

1332‧‧‧Second identification reflection section

134‧‧‧ Proximity Tag

14‧‧‧Identify anchor points

20‧‧‧Guide rail assembly

21‧‧‧rail

30‧‧‧Vertical lifting storage device

31‧‧‧ Sliding base

32‧‧‧Power components

33‧‧‧ Pole

34‧‧‧Mobile components

35‧‧‧bearing platform

36‧‧‧Feeding assembly

40‧‧‧Automatic Conveying Module

50‧‧‧Automatic positioning module

51‧‧‧ mechanical positioning

511‧‧‧Optical positioning space

52‧‧‧sensing processing unit

60‧‧‧Reading module

61‧‧‧Optical Reader

62‧‧‧Information Reader

70‧‧‧Automatic clamping module

80‧‧‧ Central Control Processing Module

200‧‧‧Positioning control method

S1‧‧‧Shipping steps

S2‧‧‧ mechanical positioning steps

S3A‧‧‧ Inductive reading steps

S3B‧‧‧Optical positioning steps

S4‧‧‧ operation processing steps

S5‧‧‧Transmission steps

S6‧‧‧ operation steps

S6A‧‧‧Storage steps

S6B‧‧‧Retrieving steps

S7‧‧‧Clamping steps

300‧‧‧ objects

301‧‧‧Material Tray

FIG. 1 is a block diagram of a system according to a preferred embodiment of the present invention. FIG. 2 is a schematic diagram of a system architecture according to a preferred embodiment of the present invention. FIG. 3 is a perspective view showing a material box in a preferred embodiment of the present invention. FIG. 4 is an exploded perspective view showing a material box in a preferred embodiment of the present invention. FIG. 5 is a perspective view showing a positioning plate in a preferred embodiment of the present invention. FIG. 6 is a schematic diagram of a use state of a preferred embodiment of the present invention. FIG. 7 is a schematic diagram of a use state of a preferred embodiment of the present invention. FIG. 8 is a schematic diagram of a use state of a preferred embodiment of the present invention. FIG. 9 is a schematic diagram of a use state of a preferred embodiment of the present invention. FIG. 10 is a schematic diagram of a use state of a preferred embodiment of the present invention. 11 is a schematic flowchart of a method according to a preferred embodiment of the present invention. FIG. 12 is a schematic flowchart of a method according to another preferred embodiment of the present invention.

Claims (10)

A storage and transportation system for automatic warehousing includes: a plurality of three-dimensional storage cabinets, which are spaced apart and have a plurality of accommodating spaces. These accommodating spaces are provided with a plurality of material boxes. There is at least one moving space between at least two three-dimensional storage cabinets; a plurality of guide track components are provided on the ground of the moving space and adjacent to the peripheral side of the three-dimensional storage cabinets, and the guide track components are mutually Connection; at least one vertical lifting storage device, which is slidably disposed on the guide rail components; a plurality of automatic conveying modules, which are adjacent to one side of the three-dimensional storage cabinets and are separated from each other With at least one gap, the automatic conveying module is used to convey at least one material box, and at least one sensing label and at least one sensing position structure are arranged on the outside of the material boxes; at least one automatic positioning module, which is arranged The automatic conveying module has at least two mechanical positioning parts and a sensing processing unit, the sensing processing unit is coupled to the mechanical positioning parts, and the automatic positioning module is used for the automatic When the module is transported by the sending module, the mechanical positioning members temporarily position the material box on the automatic conveying module, and the sensing processing unit transmits at least a certain point signal; at least one reading module, which has A plurality of optical readers and a plurality of information readers, and are selected from at least one of the three-dimensional storage cabinets, the vertical lifting storage device, the guide track components and the automatic conveying modules, In addition, at least one optical reader and at least one information reader are respectively adjacent to the automatic positioning module, and are used to optically locate the material box and scan and read the information of the material box and transmit the information. At least one optical positioning signal and at least one material information; at least one automatic gripping module, which is located on one side of at least one automatic conveying module, and two sides of the automatic gripping module have two automatic conveying modules; And a central control processing module, which is coupled to the vertical lifting material storage device, the automatic conveying modules, the automatic gripping module, the reading module and the automatic positioning module, and receives the Fixed point Signal, the optical positioning signal and the material information, and calculate them, and then control the vertical lifting storage device, the automatic conveying module, the automatic gripping module, the reading module and the automatic positioning Modular action. According to the storage and delivery system for automatic warehousing described in item 1 of the scope of the patent application, wherein the inductive tags are selected from one or a combination of radio frequency tags and barcodes, and the information readers are readable Take the inductive tag and generate at least one material information. In addition, the outer side of the material boxes are respectively provided with a plurality of sensing position structures, and the sensing position structures are selected from one or a combination of convex posts and grooves. And, the first post and the recess are respectively provided with a first identification reflection part, and the optical reader reads the first identification reflection parts optically to obtain at least one optical positioning signal. According to the storage and transportation system for automatic warehousing described in item 2 of the scope of the patent application, wherein a plurality of positioning plates are arranged at intervals in the material box, and at least one object is housed between the positioning plates. The top edges of the positioning plates are respectively provided with at least a second identification reflection portion, and the optical reader is used to optically read the first identification reflection portions and the second identification reflection portions to obtain at least one optical positioning signal. . According to the storage and transportation system for automatic warehousing described in item 1 of the scope of the patent application, wherein there is an optical positioning space between the mechanical positioning members, and the mechanical positioning members are used in the automatic conveying mold When the group transports the material box, the material box is used to locate the optical positioning space, and the sensing processing unit transmits at least a certain point signal. The storage and transportation system for automatic storage according to item 1 of the scope of the patent application, wherein the vertical lifting storage device includes a sliding base, a power assembly, at least one vertical rod, and a mobile Component, a bearing platform and a material moving component, the sliding base is slidably arranged on at least one guide rail component, and the vertical base is provided with the vertical pole, and the external side of the vertical pole is provided with The moving component is connected to the bearing platform, the bearing platform is provided with the material moving component, and the bearing platform is vertically displaced relative to the vertical rod by the moving component, and the power component is It is arranged on the sliding base and is coupled to the moving component and the material moving component. According to the storage and transportation system for automatic warehousing described in item 3 of the scope of patent application, wherein the automatic gripping module is an automated robotic arm, and the central control processing module can be selected based on the optical positioning One or a combination of a signal, the material information, and the read feedback information to control the operation of the automatic gripping module; in addition, at least one optical reader is installed in the automatic gripping module, and the The information reader is arranged on the automatic conveying module. A positioning control method for a storage and transportation system for automatic warehousing. The positioning control method is applied to a storage and transportation system for automatic warehousing in any one of claims 1 to 5, and the positioning control method The system includes: a conveying step, the automatic conveying modules convey a plurality of material boxes; a mechanical positioning step, when conveying the material box, the sensing processing unit causes one of the mechanical positioning parts to push the material box One side, and another mechanical positioning member pushes the other side of the material box so that the material box is located in the optical positioning space, and then the sensing processing unit transmits at least a certain point signal; an inductive reading step, the The information reader reads the inductive tag and generates at least one material information, and the sensing processing unit transmits the material information to the central control processing module; an optical positioning step, the optical reading The device reads the first identification reflection part and the second identification reflection part, so as to obtain at least one optical positioning signal, and the sensing processing unit is the optical identification signal. The signal is transmitted to the central control processing module; a calculation processing step, the central control processing module receives the fixed-point signal, the optical positioning signal, and the material information, and performs arithmetic processing to obtain the plural picking information and the plural feeding information , And then convert the feeding information and the feeding information into plural execution program information; a transmission step, the central control processing module transmits the execution program information to the vertical lifting storage material device, etc. The automatic conveying module, the automatic clamping module and the reading module are used to control the operation of the vertical lifting material receiving device, the automatic conveying modules, the automatic clamping module and the reading module ; And an operation step, the vertical lifting storage device, the automatic conveying modules and the automatic gripping module perform at least one picking operation and at least one stocking operation according to the execution procedure information. According to the positioning control method of the storage and transportation system for automatic warehousing described in item 7 of the scope of the patent application, it further includes a storage step, and the vertical lifting storage device determines the storage material box according to the execution procedure information. After the position of the shortest path is stored in the three-dimensional storage cabinets, the vertical lifting material storage device extends the material moving assembly and places the material box on the loading platform, and then stores the material box in pre-storage Three-dimensional storage cabinet, and then the vertical lifting storage device is to return to the origin position or re-execute another execution process information. According to the positioning control method of the storage and transportation system for automatic warehousing described in item 7 of the scope of the patent application, the method further includes a reclaiming step. The vertical lifting storage device determines one of the reclaiming materials according to the execution program information After the material box is located at the position of the shortest path in the three-dimensional storage cabinets, the vertical lifting storage device extends the material moving component and places the material box on the loading platform. The vertical lifting storage The feeding device is used to send the material box to a conveying place of the automatic conveying module, and the automatic conveying modules are used to convey the material box. According to the positioning control method of the storage and transportation system for automatic warehousing described in item 8 of the scope of the patent application, it further includes a gripping step. The automatic gripping module is based on the execution process information and grips the automatic conveying. At least one object in the material box on the module, and the clamped object is placed in another material box located in another automatic conveying module.